From 99dd816f4859c8d17ea2c3df9435cbbbcce595d8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 16 Oct 2011 15:23:34 +0200 Subject: host/simu/model: add rectangular obstacle --- host/simu/model/rectangular_obstacle.py | 63 +++++++++++++++++++++++++++++++++ host/simu/model/test/test_table.py | 48 +++++++++++++++++++++++-- 2 files changed, 109 insertions(+), 2 deletions(-) create mode 100644 host/simu/model/rectangular_obstacle.py (limited to 'host') diff --git a/host/simu/model/rectangular_obstacle.py b/host/simu/model/rectangular_obstacle.py new file mode 100644 index 00000000..71cfdc8b --- /dev/null +++ b/host/simu/model/rectangular_obstacle.py @@ -0,0 +1,63 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2011 Nicolas Schodet +# +# APBTeam: +# Web: http://apbteam.org/ +# Email: team AT apbteam DOT org +# +# This program is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 2 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software +# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# }}} +"""Obstacle with a rectangular shape.""" +from utils.observable import Observable +from simu.utils.vector import vector +from math import pi +import simu.utils.intersect + +class RectangularObstacle (Observable): + + def __init__ (self, dim, level = 0): + Observable.__init__ (self) + self.pos = None + self.angle = 0 + self.dim = dim + self.level = level + + def intersect (self, a, b): + """If the segment [AB] intersects the obstacle, return distance from a + to intersection point, else, return None.""" + if self.pos is None or self.angle is None: + return None + # Find intersection with each rectangle segments. There is at most + # two intersections, return the nearest. + u = vector.polar (self.angle, self.dim[0] / 2.) + v = vector.polar (self.angle + pi / 2, self.dim[1] / 2.) + o = vector (self.pos) + p1 = o + u + v + p2 = o - u + v + p3 = o - u - v + p4 = o + u - v + found = None + for c, d in ((p1, p2), (p2, p3), (p3, p4), (p4, p1)): + i = simu.utils.intersect.segment_segment (a, b, c, d) + if i is not None: + if found is not None: + found = min (found, i) + break + else: + found = i + return found + diff --git a/host/simu/model/test/test_table.py b/host/simu/model/test/test_table.py index 58d09a92..9595f256 100644 --- a/host/simu/model/test/test_table.py +++ b/host/simu/model/test/test_table.py @@ -24,9 +24,11 @@ """Test table model and obstacles.""" from simu.model.table import Table from simu.model.round_obstacle import RoundObstacle +from simu.model.rectangular_obstacle import RectangularObstacle from simu.inter.drawable import Drawable, DrawableCanvas from simu.utils.vector import vector from Tkinter import * +from math import pi class Area (Drawable): @@ -44,6 +46,14 @@ class Area (Drawable): continue if isinstance (o, RoundObstacle): self.draw_circle (o.pos, o.radius) + elif isinstance (o, RectangularObstacle): + self.trans_push () + self.trans_translate (o.pos) + self.trans_rotate (o.angle) + self.draw_circle ((0, 0), 0.2) + self.draw_rectangle ((o.dim[0] / 2, o.dim[1] / 2), + (-o.dim[0] / 2, -o.dim[1] / 2), fill = '') + self.trans_pop () else: raise TypeError ("unknown obstacle") if self.a is not None: @@ -105,7 +115,7 @@ class TestTable (Frame): text = 'Nearest', value = 'nearest') self.test_nearest.pack (side = 'top') self.new_obstacle_round_frame = LabelFrame (self.right_frame) - self.new_obstacle_round_frame.pack (side = 'top') + self.new_obstacle_round_frame.pack (side = 'top', fill = 'x') self.new_obstacle_radius = Scale (self.new_obstacle_round_frame, label = 'Radius', orient = 'horizontal', from_ = 0.5, to = 10, resolution = 0.5) @@ -115,9 +125,25 @@ class TestTable (Frame): command = self.new_round_obstacle) self.new_obstacle_round_frame.configure ( labelwidget = self.new_obstacle_round) + self.new_obstacle_rect_frame = LabelFrame (self.right_frame) + self.new_obstacle_rect_frame.pack (side = 'top', fill = 'x') + self.new_obstacle_dim0 = Scale (self.new_obstacle_rect_frame, + label = 'Dim[0]', orient = 'horizontal', from_ = 1, to = 10, + resolution = 1) + self.new_obstacle_dim0.pack (side = 'top') + self.new_obstacle_dim1 = Scale (self.new_obstacle_rect_frame, + label = 'Dim[1]', orient = 'horizontal', from_ = 1, to = 10, + resolution = 1) + self.new_obstacle_dim1.pack (side = 'top') + self.new_obstacle_rect = Button (self.new_obstacle_rect_frame, + text = 'New rectangular obstacle', + command = self.new_rectangular_obstacle) + self.new_obstacle_rect_frame.configure ( + labelwidget = self.new_obstacle_rect) self.area_view = AreaView (self) self.area_view.pack (expand = True, fill = 'both') self.area_view.bind ('<1>', self.click) + self.area_view.bind ('<3>', self.rotate) def update (self, draw = True): self.area_view.area.update (self.test_var.get ()) @@ -139,7 +165,7 @@ class TestTable (Frame): objs = [ [ self.area_view.area.a, 0.2, move_a ], [ self.area_view.area.b, 0.2, move_b ] ] for o in self.area_view.area.table.obstacles: - objs.append ([ o.pos, o.radius, o ]) + objs.append ([ o.pos, getattr (o, 'radius', 0.2), o ]) for obj in objs: opos = vector (obj[0]) radius = obj[1] @@ -153,12 +179,30 @@ class TestTable (Frame): self.move = None self.update () + def rotate (self, ev): + pos = vector (self.area_view.screen_coord ((ev.x, ev.y))) + for o in self.area_view.area.table.obstacles: + if o.pos is None or not hasattr (o, 'angle'): + continue + opos = vector (o.pos) + if abs (opos - pos) < 0.2: + o.angle += pi / 4 + self.update () + def new_round_obstacle (self): o = RoundObstacle (self.new_obstacle_radius.get ()) o.pos = (5, -5) self.area_view.area.table.obstacles.append (o) self.update () + def new_rectangular_obstacle (self): + o = RectangularObstacle ((float (self.new_obstacle_dim0.get ()), + float (self.new_obstacle_dim1.get ()))) + o.pos = (5, -5) + o.angle = 0 + self.area_view.area.table.obstacles.append (o) + self.update () + if __name__ == '__main__': app = TestTable () o = RoundObstacle (2) -- cgit v1.2.3